/*
 * Hamlib backend library for the SARtek rotor command set.
 *
 * sartek.c - (C) Stephane Fillod 2003
 *
 *
 *   This library is free software; you can redistribute it and/or
 *   modify it under the terms of the GNU Lesser General Public
 *   License as published by the Free Software Foundation; either
 *   version 2.1 of the License, or (at your option) any later version.
 *
 *   This library is distributed in the hope that it will be useful,
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 *   Lesser General Public License for more details.
 *
 *   You should have received a copy of the GNU Lesser General Public
 *   License along with this library; if not, write to the Free Software
 *   Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */

#ifdef HAVE_CONFIG_H
#include "config.h"
#endif

#include <stdio.h>
#include <stdlib.h>             /* Standard library definitions */
#include <string.h>             /* String function definitions */
#include <unistd.h>             /* UNIX standard function definitions */

#include "hamlib/rotator.h"
#include "serial.h"
#include "register.h"

#include "sartek.h"


/* *************************************
 *
 * Seperate model capabilities
 *
 * *************************************
 */


/*
 * SARtek rotor capabilities
 *
 * Documentation from:
 *	http://www.hosenose.com/sartek/ifcspecs.htm
 */

const struct rot_caps sartek_rot_caps = {
  .rot_model =          ROT_MODEL_SARTEK1,
  .model_name =         "SARtek-1",
  .mfg_name =           "SARtek",
  .version =            "0.2",
  .copyright = 	        "LGPL",
  .status =             RIG_STATUS_UNTESTED,
  .rot_type =           ROT_TYPE_OTHER,
  .port_type =          RIG_PORT_SERIAL,
  .serial_rate_min =    1200,
  .serial_rate_max =    1200,
  .serial_data_bits =   8,
  .serial_stop_bits =   2,
  .serial_parity =      RIG_PARITY_NONE,
  .serial_handshake =   RIG_HANDSHAKE_NONE,
  .write_delay =        0,
  .post_write_delay =   0,
  .timeout =            1000,
  .retry =              3,

  .min_az = 	        0,
  .max_az =  	        360,
  .min_el = 	        0,
  .max_el =  	        0,

  .priv =  NULL,	/* priv */

  .set_position =       sartek_rot_set_position,
  .stop =               sartek_rot_stop,
};



/* ************************************
 *
 * API functions
 *
 * ************************************
 */



/*
 * Set position
 * SARtek protocol supports azimuth only--elevation is ignored
 * Range is converted to an integer string, 0 to 360 degrees
 */

static int sartek_rot_set_position(ROT *rot, azimuth_t azimuth, elevation_t elevation)
{
  char cmdstr[8];
  int len, err;

  rig_debug(RIG_DEBUG_TRACE, "%s called\n", __FUNCTION__);

  if (!rot)
    return -RIG_EINVAL;

  if (azimuth < 0 || azimuth > 360)
    return -RIG_EINVAL;

  if (azimuth < 2) {
    azimuth = 2;
  }
  else if (azimuth > 358) {
    azimuth = 358;
  }

  len = sprintf(cmdstr, "P%c", (int) ((azimuth * 255) / 360));

  err = write_block(&rot->state.rotport, cmdstr, len);
  if (err != RIG_OK)
    return err;

  return RIG_OK;
}



/*
 * Stop rotation
 */

static int sartek_rot_stop(ROT *rot)
{
  int err;

  rig_debug(RIG_DEBUG_TRACE, "%s called\n", __FUNCTION__);

  err = write_block(&rot->state.rotport, "P\0", 2);
  if (err != RIG_OK)
    return err;

  return RIG_OK;
}



/*
 * Initialize backend
 */

DECLARE_INITROT_BACKEND(sartek)
{
  rig_debug(RIG_DEBUG_VERBOSE, "%s called\n", __FUNCTION__);

  rot_register(&sartek_rot_caps);

  return RIG_OK;
}

